ABSTRACT
Adaptive structures based on fiber-rubber composites with integrated Shape Memory Alloys are promising candidates for active deformation tasks in the fields of soft robotics and human-machine interactions. Solid-body hinges improve the deformation behavior of such composite structures. Textile technology enables the user to develop reinforcement fabrics with tailored properties suited for hinged actuation mechanisms. In this work, flat knitting technology is used to create biaxially reinforced, multilayer knitted fabrics with hinge areas and integrated Shape Memory Alloy wires. The hinge areas are achieved by dividing the structures into sections and varying the configuration and number of reinforcement fibers from section to section. The fabrics are then infused with silicone, producing a fiber-rubber composite specimen. An existing simulation model is enhanced to account for the hinges present within the specimen. The active deformation behavior of the resulting structures is then tested experimentally, showing large deformations of the hinged specimens. Finally, the simulation results are compared to the experimental results, showing deformations deviating from the experiments due to the developmental stage of the specimens. Future work will benefit from the findings by improving the deformation behavior of the specimens and enabling further development for first applications.
ABSTRACT
Fiber-reinforced rubber composites with integrated shape memory alloy (SMA) actuator wires present a promising approach for the creation of soft and highly elastic structures with adaptive functionalities for usage in aerospace, robotic, or biomedical applications. In this work, the flat-knitting technology is used to develop glass-fiber-reinforced fabrics with tailored properties designed for active bending deformations. During the knitting process, the SMA wires are integrated into the textile and positioned with respect to their actuation task. Then, the fabrics are infiltrated with liquid silicone, thus creating actively deformable composites. For dimensioning such structures, a comprehensive understanding of the interactions of all components is required. Therefore, a simulation model is developed that captures the properties of the rubber matrix, fiber reinforcement, and the SMA actuators and that is capable of simulating the active bending deformations of the specimens. After model calibration with experimental four-point-bending data, the SMA-driven bending deformation is simulated. The model is validated with activation experiments of the actively deformable specimens. The simulation results show good agreement with the experimental tests, thus enabling further investigations into the deformation mechanisms of actively deformable fiber-reinforced rubbers.
ABSTRACT
Electrically conductive filaments are used in a wide variety of applications, for example, in smart textiles and soft robotics. Filaments that conduct electricity are required for the transmission of energy and information, but up until now, most electrically conductive fibers, filaments and wires offer low mechanical elongation. Therefore, they are not well suited for the implementation into elastomeric composites and textiles that are worn close to the human body and have to follow a wide range of movements. In order to overcome this issue, the presented study aims at the development of electrically conductive and elastic filaments based on a coating process suited for multifilament yarns made of thermoplastic polyurethane (TPU). The coating solution contains TPU, carbon nanotubes (CNT) and N-Methyl-2-pyrrolidone (NMP) with varied concentrations of solids and electrically conductive particles. After applying the coating to TPU multifilament yarns, the mechanical and electrical properties are analyzed. A special focus is given to the electromechanical behavior of the coated yarns under mechanical strain loading. It is determined that the electrical conductivity is maintained even at elongations of up to 100%.
